• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1927-1932
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• 2003

In a previous study, the authors have proposed the Cooperative Collision Avoidance (CCA) method which enables mobile robots to cooperatively avoid collisions, by extending the concept of the Velocity Obstacle to multiple robot systems. The method introduced an evaluation function considering an operation objective so that each robot can choose the velocity which optimizes the function. As the evaluation function could be of an arbitrary type, this method is applicable to a wide variety of tasks. However, it complicates the optimization of the function especially in real-time. In addition, construction of the evaluation function requires an operation objective of the other robot which is very hard to obtain without communication. In this paper, the CCA method is improved considering such problems for implementation. To decrease computational costs, the previous method is simplified by introducing two essential assumptions. Then, by treating the desired direction of locomotion for each robot as the operation objective, an operation objective estimator which estimates the desired direction of the other robot is introduced. The only measurement required is the other robot's relative position, since the other information can be obtained through the estimation. Hence, communicational devices that are necessary for most other cooperative methods are not required. Moreover, mobile robots employing the method can avoid collisions with uncooperative robots or moving obstacles as well as with cooperative robots. Consequently, this improved method can be applied to general dynamic environments consisting of various mobile robots.

• Journal of Convergence for Information Technology
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• v.10 no.9
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• pp.15-21
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• 2020

This paper presents the outlier detection algorithm in the estimation method of a source location and velocity based on two-step weighted least-squares method using time difference of arrival(TDOA) and frequency difference of arrival(FDOA) data. Since the accuracy of the estimated location and velocity of a moving source can be reduced by the outliers of TDOA and FDOA data, it is important to detect and remove the outliers. In this paper, the method to find the minimum inlier data and the method to determine whether TDOA and FDOA data are included in inliers or outliers are presented. The results of numerical simulations show that the accuracy of the estimated location and velocity is improved by removing the outliers of TDOA and FDOA data.

• International Journal of Vascular Biomedical Engineering
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• v.1 no.1
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• pp.13-23
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• 2003

Backgrounds: The present study in angulated coronary stenosis was to evaluate the influence of velocity and wall shear stress (WSS) on coronary atherosclerosis, the changes of hemodynamic indices following coronary stenting, as well as their effect of evolving in-stent restenosis using human in vivo hemodynamic parameters and computed simulation quantitatively and qualitatively. Methods: Initial and follow-up coronary angiographies in the patients with angulated coronary stenosis were performed (n=80). Optimal coronary stenting in angulated coronary stenosis had two models: < 50 % angle changed(model 1, n=43), > 50% angle changed group (model 2, n=37) according to percent change of vascular angle between pre- and post-intracoronary stenting. Flow-velocity wave obtained from in vivo intracoronary Doppler study data was used for in vitro numerical simulation. Spatial and temporal patterns of velocity vector and recirculation area were drawn throughout the selected segment of coronary models. WSS of pre/post-intracoronary stenting were calculated from three-dimensional computer simulation. Results: Follow-up coronary angiogram demonstrated significant difference in the percent of diameter stenosis between two groups (group 1: $40.3{\pm}30.2$ vs. group 2: $25.5{\pm}22.5%$, p<0.05). Negative WSS area on 3D simulation, which is consistent with re-circulation area of velocity vector, was noted on the inner wall of post-stenotic area before stenting. The negative WSS was disappeared after stenting. High spatial and temporal WSS before stenting fell into within physiologic WSS after stenting. This finding was prominent in Model 2 (p<0.01) Conclusions: The present study suggests that hemodynamic forces exerted by pulsatile coronary circulation termed as WSS might affect on the evolution of atherosclerosis within the angulated vascular curvature. Moreover, geometric change, such as angular difference between pre / post-intracoronary stenting might give proper information of optimal hemodynamic charateristics for vascular repair after stenting.

• Korean Chemical Engineering Research
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• v.54 no.3
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• pp.367-373
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• 2016

Many of plastic powders handled in industry are combustible and have the hazard of dust fire and explosion accidents. However poor information about the safe handling has been presented in the production works. The aim of this research is investigated experimentally on explosive characteristics of various plastic powders used in industry and to provide additional data with safety informations. The explosibility parameters investigated using standard dust explosibility test equipment of Siwek 20-L explosion chamber. As the results, the dust explosion index ($K_{st}$) of ABS ($209.8{\mu}m$), PE ($81.8{\mu}m$), PBT ($21.3{\mu}m$), MBS ($26.7{\mu}m$) and PMMA ($14.3{\mu}m$) are 62.4, 59.4, 70.3, 303 and 203.6[$bar{\cdot}m/s$], respectively. And flame propagation velocity during plastic dust explosions for prediction of explosive damage was estimated using a flame propagation model based on the time to peak pressure and flame arrival time in dust explosion pressure assuming the constant burning velocity.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.10
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• pp.83-98
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• 2007

The handover between different radio access networks, especially where their coverage overlaps, suffers various complications since the different access networks provide different service characteristics. One way to reduce service interruptions and QoS (i.e., bandwidth, throughput, delay) degradations during the inter-technology handover is to reserve the required resource in advance. The resource reservation algorithm should minimize the handover latency and maximize the resource utilization based on the accurate estimation on mobile's location, velocity, movement pattern and service requirements. In this paper, we propose a resource reservation algorithm based on the mobile terminal velocity and the cell selection probability, which maximizes resource utilization ana reduces network overhead. We compare the proposed algorithm with PMS(Predictive Mobility Support) and VCDS(Velocity and Call Duration Support scheme) based on 3-layer network model under various scenarios.

• Geophysics and Geophysical Exploration
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• v.8 no.2
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• pp.170-176
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• 2005

Recently the velocity stack inversion is having many attentions as an useful way to perform various seismic data processing. In order to be used in various seismic data processing, the inversion method used should have properties such as robustness to noise and parsimony of the velocity stack result. The IRLS (Iteratively Reweighted Least-Squares) method that minimizes ${L_1}-norm$ is the one used mostly. This paper introduce another method, CGG (Conjugate Guided Gradient) method, which can be used to achieve the same goal as the IRLS method does. The CGG method is a modified CG (Conjugate Gradient) method that minimizes ${L_1}-norm$. This paper explains the CGG method and compares the result of it with the one of IRSL methods. Testing on synthetic and real data demonstrates that CGG method can be used as an inversion method f3r minimizing various residual/model norms like IRLS methods.

• Tunnel and Underground Space
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• v.8 no.3
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• pp.226-233
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• 1998

Microcracks in rock materials, whether natural or induced, provide useful information on the engineering performance of in situ rockmasses. A population of preferentially oriented microcracks has observable effects on the physical properties of a rockmass, but their effects may not be evident if the rock material is highly anisotropic due to other causes. An experimental program was undertaken to investigate the effect of rock fabrics on the physical properties of rock materials. In this study, anisotropy in the circumferential wave velocity and the direction of induced fractures under axial point loading were measured. Rock specimens (NX-size) of the leucocractic Pocheon granite were cored from rock blocks, retaining the relative directions of each specimen. Another set of specimens was prepared from the rock cores of the same meterial, obtained in the field. The master orientation line (MOL) was set to be the representative direction of the microcracks in the specimen. Variation of the circumferential wave velocity of each specimen was then measured along the core, keeping the MOL as reference. The direction of the minimum wave velocity was nearly perpendicular to the direction of the MOL. Coring of smaller-sized (EX-size), concentric specimens from the NX specimens were then followed, and axial point loading was applied. The direction of induced fractures due to axial point loading was closely related to the MOL direction, confirming the prior test result.

• Korean Journal of Applied Biomechanics
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• v.28 no.3
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• pp.181-185
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• 2018

Objective: The purpose of this study was to investigate the effect of types of drive-in initial steps in basketball on technical factors, to provide basic information for the enhancement of basketball skill. Method: Ten men (age: $24.70{\pm}2.26years$; height: $181.00{\pm}5.72cm$; weight: $75.70{\pm}8.23kg$; career length: $10.00{\pm}3.59years$), each with a career length of over five years and no history of injury to the lower extremities within the prior six months, participated in this study. They were asked to perform four types of drive-in movements at $35{\sim}60^{\circ}$, wearing their own shoes, after running from a start line 5 m away and catching a basketball passed by an expert passer. The drive-in movements were measured by eight infrared cameras (Oqus 300, Qualisys, Sweden). Collected raw data were used to calculate total initial step time, displacement, velocity, center of mass (COM) height, and COM velocity. Results: Total initial step displacement and velocity of cross drive-ins (JC, SC) were greater than that of direct drive-ins (JD, SD; p < .05). COM velocity of cross drive-ins (JC, SC) was also greater than that of direct drive-ins (JD, SD; p < .05). Conclusion: Our results indicated that cross drive-ins, regardless of stop step type, are more effective than direct drive-ins. This is because cross drive-ins are technically bold due to less influence from walking violations and double dribble rules in basketball. However, using one-sided movement is too difficult to play in competitive game; therefore, basketball players should develop the ability to choose appropriate movement frequency.

• Journal of the Korean Society of Safety
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• v.15 no.1
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• pp.72-79
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• 2000

In recent, occupational diseases in harmful working places become a social issue. It is the well-known fact that a respiration in polluted working places exert a serious effect on health of workers. Accordingly, the cutting off contaminants air originally is the best way to improve working environments. In these cases, ventilation systems should be essentially installed to dilute or exhaust the contaminated indoor air. In this study, we investigated the characteristics of ventilation system of the noxious gas in working indoor places with natural ventilation by using COMET. The numerical simulations were carried out the natural ventilation with two phase(air, dust). For turbulent flow, Reynolds stresses were closed by the standard $\kappa$-$\varepsilon$ model. The results are as follows ; 1) In the natural exhaust in the working place, the flows of the central region have a more rapid velocity vector than the right and left one. 2) Numerical results show that the distribution of contaminants concentration have greater influence on convection than the case of diffusion by government of velocity vectors. 3) To observe the velocity variation with distance, three location of distance are considered. As results, it shows that the velocity are 0.075(m/s) at y=5(m), 10(m) and mean concentration are raised 10.6% at y=5(m), 10(m). 4) We have presented the useful data for the adequate counterplan in the harmful working places by carrying out the various investigation of the natural ventilation.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.6-9
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• 2008

Analyzing the characteristics of blood flow in the blood vessels is very important to diagnose the circulatory diseases. In order to investigate the hemodynamic characteristics in vivo, the measurements of blood flows inside the extraembryonic arterial and venous blood vessels of chicken embryos were carried out using an in vivo micro-PIV technique. The circulatory diseases are closely related with the formation of abnormal hemodynamic shear stress regions, thereby it is important to get blood velocity and vessel's morphological information according to the vessel configuration and the flow conditions. In this study, the flow images of RBCs in blood vessels were obtained using a high-speed CMOS camera with a spatial resolution of approximately 14.6${\mu}$m${\times}$14.6${\mu}$m in the whole circulation network of blood vessels. The blood flows in the veins and arteries show steady laminar and unsteady pulsatile flow characteristics, respectively. The mean blood flows merged (in veins) and bifurcated (in arteries) smoothly into the main blood vessel and branches, respectively, without any flow separation or secondary flow which accompanying large variation of shear stress. Vorticity was high in the inner regions for both types of vessels, where the radius of curvature varied greatly. The instantaneous flows in the arterial blood vessels showed noticeable pulsatility due to the heart beat, and the main features of the velocity waveforms, including pulsatile shape, retrograde flow, mean velocity, maximum velocity and pulsatile frequency, were significantly dependent on the pulsatile condition which dominates the arterial blood flow. In near future, these in vivo experimental results of blood flow measured in various extraembryonic blood vessels would be very useful to understand the hemodynamic characteristics of human blood flows and various blood flow researches for clinically useful hemodynamic discoveries as well.